where \(F\)  does not appear anymore. Thus \(\lim _{t \rightarrow +\infty } e(t) = 0\)  iff \(K_P > 0\) . This local stability property proves that the tuning of \(K_P\)  is straightforward. This is a major difference with the classic gain tuning for PIs and PIDs (see, e.g., [1]} and the references therein).
